相关论文: Material-agnostic Shaping of Granular Materials wi…

Manipulation of granular materials such as sand or rice remains an unsolved problem due to challenges such as the difficulty of defining their configuration or modeling the materials and their particles interactions. Current approaches tend…

The control of granular materials, showing up in many industrial applications, is a challenging open research problem. Granular material systems are complex-behavior (as they could have solid-, fluid-, and gas-like behaviors) and…

Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…

Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical development. This prevalence mandates the accurate and efficient…

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

In this paper, we examine the problem of robotic manipulation of granular media. We evaluate multiple predictive models used to infer the dynamics of scooping and dumping actions. These models are evaluated on a task that involves…

Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sorting, construction, and demolition. These repetitive,…

Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Granular media surround us, comprising everything from the ground we walk on to the foods we eat. Owing to their ubiquity our ability to understand and predict the mechanical evolution of grains is not only of key scientific importance, but…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…

Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots must adapt and learn to handle new foods in a short time-span.…